Abstract:

：As a typical class of soft smart material, ionic polymer-metal composites (IPMC) with specific features and excellent performance have attracted widespread attentions from the researchers. The topics of IPMC are full of theoretical interest and also of great relevance to applications. The fundamental principle and the structure of IPMC actuators, together with their applications in the robotic systems are reviewed briefly. The special stress is laid on the analysis of the newly emerging ionic polymer membranes and the composite electrode materials, as well as the effect of their characteristics on the performance of IPMC actuators. The recent development in the fabrication technologies of IPMC actuators, including film formation, surface electroding process and encapsulation, is also summarized. Furthermore, the progress of theoretical researches about the modeling approaches and controlling strategies for IPMC actuators, which are expected to be applied in the digital control, are analyzed. The technical challenges for the performance increase of IPMC actuators are pointed out, and the application prospect of IPMC actuators in robotic system on the basis of the available information is presented.

Key words: actuator, artificial muscles, ionic polymer-metal composites, robot